Deliberative Collision Avoidance for Unmanned Surface Vehicle Based on the Directional Weight

doi:10.1007/s12204-016-1726-z

上海交通大学学报（英文版） ›› 2016, Vol. 21 ›› Issue (3): 307-312.doi: 10.1007/s12204-016-1726-z

Deliberative Collision Avoidance for Unmanned Surface Vehicle Based on the Directional Weight

WU Gongxing* (吴恭兴), SHI Danda (史丹达), GUO Jiamin (郭佳民)

(College of Ocean Science and Engineering, Shanghai Maritime University, Shanghai 201306, China)

出版日期:2016-06-30 发布日期:2016-06-30
通讯作者: WU Gongxing (吴恭兴) E-mail:wugongxing 163@163.com

Deliberative Collision Avoidance for Unmanned Surface Vehicle Based on the Directional Weight

WU Gongxing* (吴恭兴), SHI Danda (史丹达), GUO Jiamin (郭佳民)

(College of Ocean Science and Engineering, Shanghai Maritime University, Shanghai 201306, China)

Online:2016-06-30 Published:2016-06-30
Contact: WU Gongxing (吴恭兴) E-mail:wugongxing 163@163.com

摘要/Abstract

摘要： The purpose of this study is to realize the intelligent deliberative obstacle avoidance for unmanned surface vehicle (USV), based on the International Regulations for Preventing Collisions at Sea called COLREGS. Firstly, a three-level system architecture is designed for the ship intelligent collision avoidance system. Secondly, an intelligent collision avoidance algorithm is presented based on the calculation of motion parameters and the rules of COLREGS. Thirdly, according to COLREGS, the marine environment is modeled from the electronic chart data and radar information, and a deliberative collision avoidance algorithm is written. Finally, the deliberative collision avoidance simulation is carried out for the USV. The feasibility and reliability of intelligent collision avoidance algorithm are verified by the vivid simulation results.

关键词: ship collision avoidance, deliberative collision avoidance, architecture, visual simulation

Abstract: The purpose of this study is to realize the intelligent deliberative obstacle avoidance for unmanned surface vehicle (USV), based on the International Regulations for Preventing Collisions at Sea called COLREGS. Firstly, a three-level system architecture is designed for the ship intelligent collision avoidance system. Secondly, an intelligent collision avoidance algorithm is presented based on the calculation of motion parameters and the rules of COLREGS. Thirdly, according to COLREGS, the marine environment is modeled from the electronic chart data and radar information, and a deliberative collision avoidance algorithm is written. Finally, the deliberative collision avoidance simulation is carried out for the USV. The feasibility and reliability of intelligent collision avoidance algorithm are verified by the vivid simulation results.

Key words: ship collision avoidance, deliberative collision avoidance, architecture, visual simulation

中图分类号:

WU Gongxing* (吴恭兴), SHI Danda (史丹达), GUO Jiamin (郭佳民). Deliberative Collision Avoidance for Unmanned Surface Vehicle Based on the Directional Weight[J]. 上海交通大学学报（英文版）, 2016, 21(3): 307-312.

WU Gongxing* (吴恭兴), SHI Danda (史丹达), GUO Jiamin (郭佳民). Deliberative Collision Avoidance for Unmanned Surface Vehicle Based on the Directional Weight[J]. Journal of shanghai Jiaotong University (Science), 2016, 21(3): 307-312.

参考文献 11

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[3]	LIU D X, WU Z L, JIA C Y. A summary of recentresearches on ship’s intelligent collision avoidancedecision-making and control system [J]. Journalof Dalian Maritime University, 2003, 29(3): 52-56 (inChinese)
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[5]	ZHENG Z Y. The research of ship automatic collisionavoidance decision system [D]. Dalian: TransportationManagement College, Dalian Maritime University,2000 (in Chinese).
[6]	CAMPBELL S, NAEEM W, IRWIN G W. A review onimproving the autonomy of unmanned surface vehiclesthrough intelligent collision avoidance manoeuvres [J].Annual Reviews in Control, 2012, 36(2): 267-283
[7]	ZHUANG J Y, ZHANG G C, SU Y M, et al. Obstacleavoidance method for USV [J]. Journal of SoutheastUniversity (Natural Science Edition), 2013, 43(Sup 1):126-130 (in Chinese).
[8]	MARCO B, GABRIELE B, CACCIA M, et al. A collisionavoidance algorithm based on the virtual targetapproach for cooperative unmanned surface vehicles[C]//51st Conference on Decision and Control. Maui,USA: IEEE, 2012: N/A.
[9]	ABU-TAIR M, NAEEM W. A decision support frameworkfor collision avoidance of unmanned maritime vehicles[J]. Communications in Computer and InformationScience, 2013, 355(1): 549-557.
[10]	PHANTHONG T, MAKI T, URA T, et al. Applicationof A* algorithm for real-time path re-planning ofan unmanned surface vehicle avoiding underwater obstacles[J]. Journal of Marine Science and Application,2014, 13(1): 105-116.
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Deliberative Collision Avoidance for Unmanned Surface Vehicle Based on the Directional Weight

Deliberative Collision Avoidance for Unmanned Surface Vehicle Based on the Directional Weight

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